The ardupilot was running fine-ish in debug mode, but there are still several problems:

The communication became extremly slow.It takes now couple minutes to download the parameter file, and the refresh rate is terrible for pretty much everything. It takes around 3 seconds for the RC command value to appear on APM Planner for example.

The telemetry is still fine, the quad being responsive but the delay is very annoying for me since I need to fly with a joystick afterwards 2.

The flow sensor was clearly giving back some values, but due to the low refresh rate it is hard to tell. When I tried to open the log afterwards in APM Planner2, the log tool told me I was driving a Rover 3.0.1Beta the whole time So I can't make any conclusion about neither lidar lite v3 or optical flow. The optical flow was giving no reading for flow_x and flow_y. Thus probably wrong.3.

IMU0 is using optical flow --- IMU0 has stopped aiding in the message console.This keeps poping up. My EK2_GPS_TYPE is still set to not using PX4FLOW measurement.